W.-M. Shen, P. Will, and A. Castano. Robot modularity for self-reconfiguration. In SPIE Conf. on Sensor Fusion and Decentralized Control in Robotic Systems 2, 1999.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....These robots are massively parallel distributed systems, with each module thinking for itself within the group context. Previous work in self reconfiguring robots has concentrated on designing, engineering, and controlling particular systems. Several interesting robot designs have been proposed [2, 3, 9, 10, 11, 12, 13, 15]. For each of these systems, architecture dependent algorithms that couple planning to the specific actuation have been proposed. This includes real breakthroughs in both centralized planning [4, 16] and decentralized planning [6, 7, 12] This body of work has brought valuable insight into ....

W.-M. Shen, P. Will, and A. Castano. Robot modularity for self-reconfiguration. In SPIE Conf. on Sensor Fusion and Decentralized Control in Robotic Systems 2, 1999.

....planning have two parts: a set of device level primitives for controlling the motion of one module relative to a structure or substrate; and general planning algorithms built by composing these primitives. Two of our centralized planning approaches are described in detail in [2, 6] other groups [3, 4, 7 9] have pursued similar approaches. Some of the most interesting future applications for self reconfiguring robots promise to employ thousands of modules working together. Such systems represent ultra high degree of freedom systems that might be able to synthesize a robotic pet or a couch at one s ....

Shen, W.-M., Will, P., and Castano, A. Robot modularity for self-reconfiguration. In Proceedings of the International Society for Optical Engineers (SPIE) Conference on Sensor Fusion and Decentralized Control in Robotic Systems (Boston 1999), 236--245.

....a link is scaled from 370gr [15] to 195gr, i.e. by approximately 47 . Approximate dimensions of the link side with two servos changed from 10.9 x 3.4 x 2.3cm to 8.5 x 3.7 x 1.8cm. The 33 change of volume in the link body does not carry over the change in mass as theoretical calculations suggest [18]. The discrepancy is of course due to the loose definition of the dimensions and the heterogeneous nature of the links. However, we were able to reduce the ratio of the worm gear from 1:40 to 1:30 for which worms with smaller diameter are available. This provides faster motion for the links, as ....

P. Will, A. Castano, and W.-M. Shen, "Robot Modularity for Self-reconfiguration," Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems II, vol. 3839, pp. 236-245, 1999.

....Introduction The key research questions in self reconfiguring robotics are how to design and engineer robot systems capable of self reconfiguration, and how to plan for such systems. Several interesting robot designs have been proposed [RV01, KR99, MKY 98, TMK 99, FK90, PCSC96, YDR00, SWC99, UK00] For each of these systems, architecture dependent algorithms that couple planning to the specific actuation have been proposed. This includes real breakthroughs in both centralized planning [KR99, YMK 00] and decentralized planning [BBR, MYK 01, TMK 99] This body of work has ....

W.-M. Shen, P. Will, and A. Castano. Robot modularity for self-reconfiguration. In SPIE Conf. on Sensor Fusion and Decentralized Control in Robotic Systems 2, 1999.

No context found.

P. Will, A. Castano, and W. Shen, Robot modularity for self-reconfiguration, in Proceedings of the Society of Photo-Optical Instrumentation Engineers, Boston, 1999.

No context found.

P. Will, A. Castano, and W. Shen, Robot modularity for self-reconfiguration, in Proceedings of the Society of Photo-Optical Instrumentation Engineers, Boston, 1999.

Online articles have much greater impact   More about CiteSeer.IST   Add search form to your site   Submit documents   Feedback  

CiteSeer.IST - Copyright Penn State and NEC